CN109733541B - Unmanned ship recovery plant - Google Patents
Unmanned ship recovery plant Download PDFInfo
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- CN109733541B CN109733541B CN201811319493.XA CN201811319493A CN109733541B CN 109733541 B CN109733541 B CN 109733541B CN 201811319493 A CN201811319493 A CN 201811319493A CN 109733541 B CN109733541 B CN 109733541B
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Abstract
The invention provides unmanned ship recovery equipment.A main ship body is provided with an inclined plate, the inclined plate is provided with a slide rail and a rack, the slide rail is slidably provided with a butt joint device, and a driving device is arranged between the inclined plate and the butt joint device; the butt joint device comprises a sliding frame and a guiding locking device, the guiding locking device comprises a U-shaped body, the U-shaped body comprises a connecting part and a straight body part, the two ends of the connecting part are respectively provided with the straight body part extending backwards, and the straight body part is provided with a guiding rod extending backwards and inclining outwards; the top end and the bottom end of the sliding rail are respectively provided with a second locking mechanism, the bottom end of the inclined plate on the ship body is hinged with a sliding plate mechanism, when the unmanned ship is recovered, the unmanned ship firstly passes through the sliding plate mechanism and then is buckled on the guide locking mechanism, and the unmanned ship is pulled back into the ship body by the driving mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to unmanned ship recovery equipment.
Background
An unmanned ship is an autonomous carrying platform which can navigate on the water surface according to a preset task by means of satellite positioning and self sensing, and is widely applied to the fields of water environment investigation, environmental protection monitoring, search and rescue, security and protection patrol and the like. The technology for laying and recovering the unmanned ship on the sea is a technology for laying the unmanned ship when the unmanned ship performs a task by taking a surface naval vessel as a mother ship, ensuring that the unmanned ship performs the task smoothly and recovering the unmanned ship timely and reliably after the task is completed and navigated back. The challenges that unmanned ship marine deployment recovery faces include safe and reliable and automation of deployment recovery operation, and at present to unmanned ship's marine deployment recovery technique, mostly when mother ship is close to unmanned ship after, hook unmanned ship after through the automatic couple device that drags that sets up, hang unmanned ship back to mother ship by the davit hawser on the mother ship, if in application number CN201810121072.X, disclose an unmanned ship deployment recovery device in the patent document that published bulletin date is 2018.07.06, this deployment recovery device includes: the hoisting device is arranged on the mother ship and is provided with at least one cable led out of the mother ship, and the end part of the cable is provided with a clamping joint with an enlarged radial size; the automatic unhooking device is arranged on the unmanned ship and is provided with a clamping joint locking mechanism detachably connected with the clamping joint and a guide part for guiding the clamping joint to enter the working range of the clamping joint locking mechanism; wherein the bayonet catch locking mechanism has at least a first state in which the bayonet catch is locked and a second state in which the bayonet catch is released. The unmanned ship laying and recovering device is simple to operate and reliable in structure, connection between the unmanned ship and the mother ship is automatically achieved, the problems of workload and high risk of manual operation are solved, the autonomy and safety of unmanned ship laying and recovering operation are improved, however, complete automatic laying and recovering of the unmanned ship cannot be achieved by the scheme, a crew is required to pull and position the unmanned ship by using a traction rope, and certain danger is brought to the crew when weather is bad; in addition, the unmanned ship needs to be lifted from the water surface to the mother ship by the lifting arm and the cable, the lifting arm needs to be installed on the mother ship, the cost is increased, and the arrangement is not suitable for the small mother ship.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the recovery device of the unmanned ship, which can realize the automatic recovery of the unmanned ship without the intervention of personnel and has high safety.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides an unmanned ship recovery plant, includes mother's ship hull, its characterized in that: an inclined plate which is inclined downwards and extends from inside to outside is arranged on the hull of the mother ship, more than one slide rail is arranged on the inclined plate, and a row of carrier rollers are respectively arranged on two sides of each slide rail;
a butt joint device is arranged on the slide rail in a sliding way, and a driving device is arranged between the inclined plate and the butt joint device; the butt joint device comprises a sliding frame and a guide locking device, and the guide locking device is arranged on the sliding frame; the guide locking device comprises a U-shaped body, the U-shaped body comprises a connecting part and a straight body part, the two ends of the connecting part are respectively provided with the straight body part extending backwards, the straight body part is provided with guide rods extending backwards and inclining outwards, and the included angle between the two guide rods is 80-100 degrees; the two sides of the straight body of the U-shaped body are symmetrically provided with a first locking mechanism relative to the central plane of the U-shaped body, the first locking mechanisms comprise first mounting plates, the first mounting plates are arranged on the outer sides of the straight body, first shells are arranged on the first mounting plates, first lock pins penetrate through the straight body and extend into U-shaped grooves of the U-shaped body in a sliding mode, first magnetic absorption resisting parts are arranged on the first lock pins and located in the first shells, first elastic parts are arranged on the first lock pins and located between the first magnetic absorption resisting parts and the first shells, first electromagnets are fixedly arranged in the first shells, and first guide surfaces are arranged on backward planes of one ends, extending into the U-shaped grooves, of the first lock pins;
the top end and the bottom end of the sliding rail are respectively provided with a second locking mechanism, the second locking mechanism comprises a second mounting plate, the second mounting plate is arranged on the side face of the sliding rail, a second shell is arranged on the second mounting plate, a second lock pin penetrates through the second mounting plate and the second shell in a sliding manner, a second magnetic absorption resisting part is arranged on the second lock pin and positioned in the second shell, a second elastic part is arranged on the second lock pin and positioned between the second magnetic absorption resisting part and the second shell, a second electromagnet is fixedly arranged in the second shell, and the extending end of the second lock pin is provided with a chamfer; a second locked mechanism matched with the second locking mechanism is arranged on the sliding frame;
the bottom end of the inclined plate on the ship body is hinged with a sliding plate mechanism, the sliding plate mechanism comprises a base plate, one end of the base plate is hinged on the ship body, more than two guide devices which are perpendicular to the base plate and symmetrically arranged relative to the central line of the base plate are arranged at the other end of the base plate, and two rows of carrier rollers corresponding to the carrier rollers on the inclined plate are further arranged on the base plate.
The arrangement forms the basic structure of the invention, the support roller lifts the unmanned ship, the friction between the unmanned ship and the ship body can be reduced, on one hand, the damage to the unmanned ship can be prevented, and on the other hand, the energy can be saved; the sliding rail provides a rail for sliding of the sliding frame, and the second locking mechanism provides positioning for the sliding frame on the sliding rail; the guide rods provide guidance for the unmanned ship to enable the unmanned ship to be smoothly connected with the docking device, the included angle between the two guide rods is 80-100 degrees, namely the included angle between each guide rod and the central line of the U-shaped body is 40-50 degrees, and the angle arrangement can balance the relation between the impact force applied to the guide rods and the opening width of the guide rods; when a pull ring on the unmanned ship collides with a first guide surface of the first lock pin, the first lock pin retracts, the pull ring can smoothly pass through the first lock pin, after the pull ring passes through the first lock pin, the first lock pin is popped out to buckle the pull ring, and the unmanned ship is automatically connected with the docking device; when the unmanned ship needs to be recovered, the sliding plate is automatically put down, the sliding plate mechanism erects a bridge between seawater and the ship body, so that the unmanned ship can stably enter the ship body, and after the unmanned ship enters the ship body, the sliding plate mechanism automatically turns upwards to form a protective door, so that the unmanned ship or objects in the ship body are prevented from falling; the guiding device on the sliding plate mechanism provides primary guiding for the approach of the unmanned ship, manual interference is not needed, automatic recovery of the unmanned ship is achieved, and safety performance is high.
Furthermore, the number of the slide rails is two, the slide rails are provided with T-shaped grooves, two T-shaped slide blocks are arranged on two sides of the sliding frame respectively and matched with the T-shaped grooves, the second locked mechanism is arranged on the T-shaped slide blocks, the two slide rails and the four T-shaped slide blocks can enable the sliding frame to slide stably, and the T-shaped slide blocks can prevent the sliding frame from overturning; the second is established by the locking mechanism and can directly cooperate with second locking mechanism on T shape slider, reliable locking carriage.
Further, drive arrangement is including establishing the gear of carriage bottom and establishing the rack on the swash plate, and gear and rack cooperation, drive arrangement still includes speed reducer and driving motor, and the speed reducer is established on the carriage, and the output shaft of speed reducer links to each other with the gear, and driving motor's output shaft links to each other with the input shaft of speed reducer, adopts driving motor collocation speed reducer to pass through the driven mode of rack and pinion, simple structure, and moment is big, and the transmission is reliable, and installation space is little.
Further, be equipped with the flange at the connecting portion of U-shaped body, be equipped with hydraulic buffer between carriage and direction locking means, hydraulic buffer's one end links to each other with the carriage, hydraulic buffer's the other end links to each other with the flange on the U-shaped body, it can conveniently connect the carriage to set up the flange, be convenient for change and maintenance, because unmanned ship can have an impact force to direction locking means when retrieving, if do not set up the buffer, the impact force can directly transmit the carriage, influence the cooperation precision of T-shaped slider and T-shaped groove, rack and pinion complex precision and second locking mechanism and second are by locking mechanism complex precision, spare part more than damaging even.
Furthermore, the hinged parts of the base plate and the ship body are respectively provided with a fan-shaped bracket, the fan-shaped bracket comprises an arc edge, two ends of the arc edge are respectively provided with a third locked mechanism, the ship body is provided with a third locking mechanism matched with the third locked mechanism, the third locking mechanism comprises a third mounting plate, the third mounting plate is arranged on the ship body, a third shell is arranged on the third mounting plate, a third lock pin passes through the third mounting plate and the third shell in a sliding manner, a third magnetic absorption resisting part is arranged on the third lock pin and positioned in the third shell, a third elastic part is arranged on the third lock pin and positioned between the third magnetic absorption resisting part and the third shell, a third electromagnet is fixedly arranged in the third shell, the extending end of the third lock pin is provided with a chamfer, and the structure is characterized in that the hinged point of the base plate swings by taking the circle center as the circle center, the third locked mechanism is arranged at two ends of the arc edge of the fan-shaped bracket, so that the third locked mechanism and the third locked mechanism can be matched with, the structure is simple.
Furthermore, a second driving device for driving the sliding plate mechanism to rotate is arranged in the ship body, the second driving device comprises a hinged shaft of the sliding plate mechanism and the ship body, one end of the hinged shaft is fixedly connected with the sliding plate mechanism, the other end of the hinged shaft is provided with a second driven gear, a second driving gear is arranged on the ship body, a second speed reducer and a second driving motor are further arranged in the ship body, an output shaft of the second speed reducer is connected with the second driving gear, an output shaft of the second driving motor is connected with an input shaft of the second speed reducer, the sliding plate mechanism rotates at a slower speed, the reduction ratio of the speed reducer cannot meet the requirement, and therefore, a small second driving gear is arranged to drive a large second driven gear to achieve secondary speed reduction, the structure is simple, and the operation is reliable.
Furthermore, the guiding device is a guiding fixed rod or a guiding roller, the guiding fixed rod is simple in structure and low in cost, the roller of the guiding roller can rotate passively, friction between the unmanned ship and the guiding roller can be reduced, and the unmanned ship is prevented from being damaged.
Furthermore, the two sides of the base plate, relative to the central line of the base plate, of the guide device are respectively provided with more than two guide roller sets to form guide roller sets, the two guide roller sets gradually approach towards the front, the guide roller sets formed by the guide rollers can continuously provide guidance for the unmanned ship, and the two guide roller sets gradually approach towards the front and can completely guide the unmanned ship to the carrier rollers, so that the unmanned ship smoothly enters the ship body.
Further, the second locking mechanism is a locking hole; the locking hole with the through hole or the blind hole structure is simple in structure, easy to process and low in cost.
Furthermore, a position avoiding notch is arranged at the rear end of the base plate, can avoid the bottom of the unmanned ship and has a limiting effect.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 1.
Fig. 4 is an enlarged view of fig. 2 at B.
Fig. 5 is a front view of the docking device of the present invention.
Fig. 6 is a left side view of the docking device of the present invention.
Fig. 7 is a top view of the docking device of the present invention.
Fig. 8 is a schematic structural view of the first lock mechanism in the present invention.
Fig. 9 is a schematic structural view of the slide plate mechanism of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 9: the utility model provides an unmanned ship recovery plant, includes female ship hull, is equipped with the swash plate 1 that extends by interior toward outer downward sloping on female ship hull, and the symmetry is equipped with two slide rails 2 on the swash plate, is equipped with the T-slot 20 of invering in the slide rail, respectively sets up one row of bearing roller 3 parallel with the slide rail in the both sides of the region that two slide rails enclose, is located to be equipped with the rack 4 parallel with slide rail 2 between two slide rails 2 on swash plate 1.
When the unmanned ship is recovered, the direction of the bow is the front, and the direction of the stern is the back.
A docking device is arranged on the sliding rail 2 in a sliding manner, the docking device comprises a sliding frame 31, a hydraulic buffer 32 and a guiding locking device 33, one end of the hydraulic buffer 32 is connected with the sliding frame 31, the other end of the hydraulic buffer 32 is connected with the guiding locking device 33, two inverted T-shaped sliding blocks 311 are respectively arranged on two sides of the sliding frame 31, the T-shaped sliding blocks 311 can slide in the T-shaped grooves 20, and second locking holes 312 are arranged on the T-shaped sliding blocks 311;
the guide locking device 33 comprises a U-shaped body 330, the U-shaped body 330 comprises a connecting part 3301 and a straight part 3302, a flange 3303 is arranged on the connecting part 3301 of the U-shaped body 330, the U-shaped body 330 is connected with the hydraulic buffer 32 through the flange 3303, the straight part 3302 extending backwards is respectively arranged at two ends of the connecting part 3301, a guide rod 3304 extending backwards and inclining outwards is arranged on the straight part 3302, and the included angle between the two guide rods 3304 is between 80 and 100 degrees; two sides of a straight body 3302 of the U-shaped body 330 are symmetrically provided with a first locking mechanism 5 relative to a central plane of the U-shaped body 330, each first locking mechanism 5 comprises a first mounting plate 51, the first mounting plate 51 is arranged outside the straight body 3302, the first mounting plate 51 is provided with a first shell 52, the first mounting plate 51 and the first shell 52 are slidably penetrated by a first locking pin 53, the first locking pin 53 penetrates through the straight body and extends into a U-shaped groove of the U-shaped body, the first locking pin 53 is provided with a first magnetic attraction resisting part 54 positioned in the first shell 52, the first locking pin 53 is provided with a first spring 55 positioned between the first magnetic attraction resisting part 54 and the first shell 52, the first shell 52 is fixedly provided with a first electromagnet 56 inside, and a first guide surface 530 is arranged on a backward surface of one end of the first locking pin 53 extending into the U-shaped groove;
the bottom of the sliding frame 31 is provided with a driving device, the driving device comprises a gear 61 arranged at the bottom of the sliding frame 31, the gear 61 is matched with the rack 4 on the sliding plate 1, the driving device further comprises a speed reducer 62 and a driving motor 63, the speed reducer 62 is arranged on the sliding frame 31, an output shaft of the speed reducer 62 is connected with the gear 61, and an output shaft of the driving motor 63 is connected with an input shaft of the speed reducer 62.
All be equipped with second locking mechanism 7 on the top of slide rail 2 and bottom, second locking mechanism 7 is similar with 5 structures of first locking mechanism, the difference lies in that the end that stretches out at the second lockpin is equipped with the chamfer, but the spigot surface towards the back, second locking mechanism 7 includes the second mounting panel, the side at slide rail 2 is established to the second mounting panel, be equipped with the second shell on the second mounting panel, it has passed the second lockpin to slide on second mounting panel and second shell, it is equipped with second magnetism and inhales the portion of keeping off to lie in the second shell on the second lockpin, it is equipped with the second spring to lie in on the second lockpin between second magnetism and inhale the portion of keeping off and the second shell, fixed being equipped with the second electro-magnet in the inside of second shell, the end that stretches out of second lockpin is equipped with the chamfer.
The bottom end of the inclined plate 1 on the ship body is hinged with a sliding plate mechanism 8, the sliding plate mechanism 8 comprises a base plate 80, one end of the base plate 80 is hinged on the ship body, the other end of the base plate 80 is provided with two rows of guide fixing rods 81 which are perpendicular to the base plate 80 and are symmetrically arranged relative to the central line of the base plate 80, and the two rows of guide fixing rods 81 gradually approach to the front; two rows of carrier rollers corresponding to the carrier rollers on the inclined plate are also arranged on the base plate 80; the rear end of the base plate 80 is provided with a clearance gap 82.
A fan-shaped support 83 is respectively arranged at the hinged part of the base plate 80 and the ship body, the fan-shaped support 83 comprises an arc edge 830 and a straight edge 832, two ends of the arc edge 830 are respectively provided with a third locking hole 831, two sides of the arc edge 830 are provided with reinforcing ribs 8301, the ship body is provided with a third locking mechanism 85 matched with the third locking hole 831, the third locking mechanism 85 has a similar structure with the first locking mechanism 5, the difference is that the extending end of the third lock pin is provided with a chamfer instead of a backward guide surface, the third locking mechanism comprises a third mounting plate, the third mounting plate is arranged on the ship body, a third shell is arranged on the third mounting plate, the third lock pin passes through the third mounting plate and the third shell in a sliding manner, a third magnetic absorption and abutment part is arranged on the third lock pin and is arranged between the third magnetic absorption and abutment part and the third shell, and a third electromagnet is fixedly arranged in the third shell, and a chamfer is arranged at the extending end of the third lock pin.
The ship body is internally provided with a second driving device (not shown) for driving the sliding plate mechanism 8 to rotate, the second driving device comprises a hinged shaft for connecting the sliding plate mechanism 8 with the ship body in a hinged mode, one end of the hinged shaft is fixedly connected with the sliding plate mechanism 8, the other end of the hinged shaft is provided with a second driven gear, a second driving gear is arranged on the ship body, a second speed reducer and a second driving motor are further arranged in the ship body, an output shaft of the second speed reducer is connected with the second driving gear, and an output shaft of the second driving motor is connected with an input shaft of the second speed reducer.
When the unmanned ship needs to be recovered, the driving device at the bottom of the sliding frame 31 conveys the guiding locking device 33 to the bottom end of the rack 4, the second lock pin on the second locking mechanism 7 is inserted into the second locking hole 312, the sliding frame 31 is locked, the second driving device drives the sliding plate mechanism 8 to swing towards the water surface, the third lock pin of the third locking mechanism 85 is inserted into the third locking hole 831 at the upper end of the arc edge 830, the unmanned ship advances along the middle of the two rows of guide rods 81 and is lifted by the supporting rollers on the base plate 80, the unmanned ship moves towards the inclined plate under the action of inertia, when the pull ring on the unmanned ship impacts the guide rod 3304, the guide rod 3304 provides guidance for the unmanned ship, the unmanned ship continues to advance, when the pull ring on the unmanned ship impacts the first guide surface 530, the first guide surface 530 retracts, the pull ring on the unmanned ship passes through the first lock pin 53, the first lock pin 53 pops up and is buckled, the connection between the unmanned ship and the docking device is automatically completed, then, the driving device at the bottom of the sliding frame 31 conveys the guiding locking device 33 to the top end of the rack 4, the second lock pin on the second locking mechanism 7 on the top end of the rack 4 is inserted into the second locking hole 312, the sliding frame 31 is locked, the recovery of the unmanned ship is completed, the second driving device drives the sliding plate mechanism 8 to swing towards the ship body, and the third lock pin of the third locking mechanism 85 is inserted into the third locking hole 831 at the lower end of the arc edge 830, so that the recovery of the sliding plate mechanism 8 is completed. The invention provides a recovery device of an unmanned ship, which can realize automatic recovery of the unmanned ship without human intervention and has high safety.
Claims (10)
1. The utility model provides an unmanned ship recovery plant, includes mother's ship hull, its characterized in that: an inclined plate which is inclined downwards and extends from inside to outside is arranged on the hull of the mother ship, more than one slide rail is arranged on the inclined plate, and a row of carrier rollers are respectively arranged on two sides of each slide rail;
a butt joint device is arranged on the slide rail in a sliding way, and a driving device is arranged between the inclined plate and the butt joint device; the butt joint device comprises a sliding frame and a guide locking device, and the guide locking device is arranged on the sliding frame; the guide locking device comprises a U-shaped body, the U-shaped body comprises a connecting part and a straight body part, the two ends of the connecting part are respectively provided with the straight body part extending backwards, the straight body part is provided with guide rods extending backwards and inclining outwards, and the included angle between the two guide rods is 80-100 degrees; the two sides of the straight body of the U-shaped body are symmetrically provided with a first locking mechanism relative to the central plane of the U-shaped body, the first locking mechanisms comprise first mounting plates, the first mounting plates are arranged on the outer sides of the straight body, first shells are arranged on the first mounting plates, first lock pins penetrate through the straight body and extend into U-shaped grooves of the U-shaped body in a sliding mode, first magnetic absorption resisting parts are arranged on the first lock pins and located in the first shells, first elastic parts are arranged on the first lock pins and located between the first magnetic absorption resisting parts and the first shells, first electromagnets are fixedly arranged in the first shells, and first guide surfaces are arranged on backward planes of one ends, extending into the U-shaped grooves, of the first lock pins;
the top end and the bottom end of the sliding rail are respectively provided with a second locking mechanism, the second locking mechanism comprises a second mounting plate, the second mounting plate is arranged on the side face of the sliding rail, a second shell is arranged on the second mounting plate, a second lock pin penetrates through the second mounting plate and the second shell in a sliding manner, a second magnetic absorption resisting part is arranged on the second lock pin and positioned in the second shell, a second elastic part is arranged on the second lock pin and positioned between the second magnetic absorption resisting part and the second shell, a second electromagnet is fixedly arranged in the second shell, and the extending end of the second lock pin is provided with a chamfer; a second locked mechanism matched with the second locking mechanism is arranged on the sliding frame;
the bottom end of the inclined plate on the ship body is hinged with a sliding plate mechanism, the sliding plate mechanism comprises a base plate, one end of the base plate is hinged on the ship body, more than two guide devices which are perpendicular to the base plate and symmetrically arranged relative to the central line of the base plate are arranged at the other end of the base plate, and two rows of carrier rollers corresponding to the carrier rollers on the inclined plate are further arranged on the base plate.
2. The unmanned ship recovery apparatus of claim 1, wherein: the number of the slide rails is two, T-shaped grooves are formed in the slide rails, two T-shaped slide blocks are arranged on two sides of the slide frame respectively and matched with the T-shaped grooves, and the second locking mechanism is arranged on the T-shaped slide blocks.
3. The unmanned ship recovery apparatus of claim 1, wherein: the driving device comprises a gear arranged at the bottom of the sliding frame and a rack arranged on the inclined plate, the gear is matched with the rack, the driving device also comprises a speed reducer and a driving motor, the speed reducer is arranged on the sliding frame, an output shaft of the speed reducer is connected with the gear, and an output shaft of the driving motor is connected with an input shaft of the speed reducer.
4. The unmanned ship recovery apparatus of claim 1, wherein: the connecting portion of U-shaped body is equipped with the flange, is equipped with hydraulic buffer between carriage and direction locking means, and hydraulic buffer's one end links to each other with the carriage, and hydraulic buffer's the other end links to each other with the flange on the U-shaped body.
5. The unmanned ship recovery apparatus of claim 1, wherein: the articulated department at slide and hull respectively is equipped with a fan-shaped support, fan-shaped support includes the circular arc limit, both ends on the circular arc limit respectively are equipped with a third and are locked the mechanism, be equipped with on the hull with the third locking mechanism of locking mechanism complex, third locking mechanism includes the third mounting panel, the third mounting panel is established on the hull, be equipped with the third shell on the third mounting panel, third lockpin has been passed with third shell on third mounting panel and third shell with sliding, it inhales the portion of keeping off to lie in the third shell and be equipped with third magnetism on the third lockpin, it inhales the portion of keeping off and is equipped with the third elastic component to lie in the third magnetism on the third lockpin between the third shell, fixed being equipped with the third electro-magnet in the inside of third shell, the end that stretches out of third lockpin is equipped with the chamfer.
6. The unmanned ship recovery apparatus of claim 1, wherein: the ship body is internally provided with a second driving device for driving the sliding plate mechanism to rotate, the second driving device comprises a hinged shaft of the sliding plate mechanism and the ship body, one end of the hinged shaft is fixedly connected with the sliding plate mechanism, the other end of the hinged shaft is provided with a second driven gear, a second driving gear is arranged on the ship body, a second speed reducer and a second driving motor are further arranged in the ship body, an output shaft of the second speed reducer is connected with the second driving gear, and an output shaft of the second driving motor is connected with an input shaft of the second speed reducer.
7. The unmanned ship recovery apparatus of claim 1, wherein: the guiding device is a guiding fixed rod or a guiding roller.
8. The unmanned ship recovery apparatus of claim 1, wherein: the two sides of the base plate corresponding to the central line of the base plate are respectively provided with more than two guide devices to form guide roller sets, and the two groups of guide roller sets gradually approach to the front.
9. The unmanned ship recovery apparatus of claim 1, wherein: the second is locked the mechanism and is the locking hole.
10. The unmanned ship recovery apparatus of claim 1, wherein: and a clearance gap is arranged at the rear end of the substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319493.XA CN109733541B (en) | 2018-11-07 | 2018-11-07 | Unmanned ship recovery plant |
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|---|---|---|---|
| CN201811319493.XA CN109733541B (en) | 2018-11-07 | 2018-11-07 | Unmanned ship recovery plant |
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| CN109733541A CN109733541A (en) | 2019-05-10 |
| CN109733541B true CN109733541B (en) | 2020-04-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113386920B (en) * | 2020-03-12 | 2022-12-27 | 广东华风海洋信息系统服务有限公司 | Be applied to integrated carrying device of ferry |
| CN111674514B (en) * | 2020-05-22 | 2021-07-06 | 中船重工(青岛)海洋装备研究院有限责任公司 | Buoy recovery device for ocean observation |
| CN112896422B (en) * | 2021-01-27 | 2022-11-29 | 山东交通学院 | Connection structure and unmanned ship with same |
| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN114394200B (en) * | 2022-01-14 | 2023-10-20 | 宁波上航测绘有限公司 | Unmanned ship lowering and recycling system with high autonomy and high safety for water area measurement and application method thereof |
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| CN108248765A (en) * | 2018-02-07 | 2018-07-06 | 国家海洋局第海洋研究所 | A kind of unmanned boat lays retracting device |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
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